地址:https://github.com/symao/libicp.git
boost 1.67.0:https://dl.bintray.com/boostorg/release/1.67.0/source/boost_1_67_0.zip
boost 编译:https://blog.csdn.net/xie1xiao1jun/article/details/50477073
boost 使用:https://blog.csdn.net/loongsking/article/details/80136004
运行 libicp demo 输出:
Creating model with 10000 points ...
Creating template by shifting model by (1,0.5,-1) ...
Running ICP (point-to-plane, no outliers)
Transformation results:
R:
1.0000000 -0.0000000 0.0000000
0.0000000 1.0000000 -0.0000000
-0.0000000 0.0000000 1.0000000
t:
1.0000000
0.5000000
-1.0000000
Residual:2.20098e-11